Optoelectronic array, radar device, communication system, electronic and electrical system, and vehicle

Abstract

The invention discloses a photoelectric array, a radar device, a communication system, an electronic and electrical system and a vehicle, and the photoelectric array comprises a plurality of photoelectric units which are arranged in an array; each photoelectric unit comprises a light transmission part, a first acquisition part and a second acquisition part; wherein incident light entering the array penetrates through the light transmitting part, the first collecting part is used for collecting the incident light to serve as a reference light signal, the light penetrating through the light transmitting part is reflected by a target object when encountering the target object, and the second collecting part is used for receiving the light reflected by the target object to serve as a detection light signal. The array can acquire a reference light signal and a detection light signal at one time, provides data for one-time imaging, has a larger field angle, and can acquire a larger sensing range.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to an optoelectronic array, as well as a radar device, a communication system, an electronic and electrical system, and a vehicle. Background Art

[0002] In related technologies, the basic structure of a radar device includes laser emission, laser reception, a scanning system, and information processing. The function of the scanning system is to control the emission source to move along a certain trajectory to achieve scanning of the plane where it is located. Most existing scanning systems use mechanical scanning or micromachined vibration, with complex processes and high costs. They cannot achieve one-shot imaging and require multiple transceiver modules to be spliced to achieve imaging with a large field of view. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, an object of the present invention is to provide an optoelectronic array that can obtain a reference optical signal and a detection optical signal at one time, provide data for one-shot imaging, has a larger field of view, and can obtain a larger sensing range.

[0004] A second object of the present invention is to provide a radar device.

[0005] A third object of the present invention is to provide a communication system.

[0006] A fourth object of the present invention is to provide an electronic and electrical system.

[0007] A fifth object of the present invention is to provide a vehicle.

[0008] To solve the above problems, an optoelectronic array according to an embodiment of the first aspect of the present invention includes: a plurality of optoelectronic units arranged in an array; each optoelectronic unit includes a light-transmitting part, a first collection part, and a second collection part; wherein, incident light incident on the array passes through the light-transmitting part, the first collection part is used to collect the incident light as a reference optical signal, the light passing through the light-transmitting part is reflected by a target when it encounters the target, and the second collection part is used to receive the light reflected by the target as a detection optical signal.

[0009] According to an embodiment of the present invention, the optoelectronic array can replace the scanning system in a radar device. It includes a plurality of optoelectronic units arranged in an array. Each optoelectronic unit includes three parts. Among them, the first acquisition part acquires incident light as a reference optical signal. The light transmitted through the light-transmitting part is reflected by the target when it encounters the target. The second acquisition part receives the light reflected by the target as a detection optical signal. That is, based on the light-transmitting part, the first acquisition part and the second acquisition part, imaging data can be obtained at one time, without splicing of multiple transceiver modules, and without mechanical or micro-mechanical vibration structures, achieving the purpose of reducing costs and being purely solid-state. And by adopting an array structure, a larger field of view angle can be obtained, and a larger sensing range can be acquired.

[0010] In some embodiments, the array is a spherical array, and the concave surface of the spherical array is adapted to face the light-emitting device.

[0011] In some embodiments, the optoelectronic unit is a hexagonal unit, and a plurality of the hexagonal units are closely arranged to form the spherical array.

[0012] In some embodiments, the hexagonal unit is evenly divided into the light-transmitting part, the first acquisition part and the second acquisition part.

[0013] In some embodiments, the first acquisition part includes a first stacked structure stacked along the thickness direction of the array;

[0014] The second acquisition part includes a second stacked structure stacked along the thickness direction of the array;

[0015] The first stacked structure and the second stacked structure are arranged in opposite directions in the thickness direction of the array.

[0016] In some embodiments, the first stacked structure includes: a first optoelectronic conversion layer for converting the detection optical signal into a detection electrical signal; a first pixel transistor layer corresponding to and connected to the first optoelectronic conversion layer for controlling the transmission of the detection electrical signal; a first readout circuit layer connected to the first pixel transistor layer for reading out the detection electrical signal.

[0017] In some embodiments, the second stacked structure includes: a second optoelectronic conversion layer for converting the reference optical signal into a reference electrical signal; a second pixel transistor layer corresponding to and connected to the second optoelectronic conversion layer for controlling the transmission of the reference electrical signal; a second readout circuit layer connected to the second pixel transistor layer for reading out the reference electrical signal.

[0018] In some embodiments, the light-transmitting part includes light-transmitting glass.

[0019] In a second aspect embodiment of the present invention, a radar device is provided, including: the optoelectronic array described in the above embodiment; a light emitting device for emitting light, and the light is incident on the optoelectronic array.

[0020] According to the radar device of the embodiment of the present invention, by using the optoelectronic array of the above embodiment to replace the scanning system, mechanical scanning or micromachined vibration is not required, so as to achieve the purpose of reducing costs and meeting the pure solid-state requirements. Imaging data can be obtained at one time without splicing multiple transceiver modules. Using an optoelectronic array can have a larger field of view and obtain a larger sensing range.

[0021] In some embodiments, the radar device further includes: an electro-optical conversion module, the electro-optical conversion module is connected to the control module, and the electro-optical conversion module is also adapted to be connected to an optical fiber line, and is used for converting the target object information obtained through the optoelectronic array into a target optical signal and sending the target optical signal to the optical fiber line.

[0022] In some embodiments, the target object information is at least carried in the reference electrical signal and the detection electrical signal output by the optoelectronic array; and / or, the target object information is carried in a target object electrical signal, and the target object electrical signal is obtained according to the reference electrical signal and the detection electrical signal output by the optoelectronic array.

[0023] In some embodiments, the electro-optical conversion module includes: a protocol conversion chip, the protocol conversion chip is connected to the control module, and is used for converting the Ethernet protocol of the target object information into an optical network protocol; an optical receiving and driving chip, connected to the protocol conversion chip, and is used for converting the target object information into the target optical signal; an optical transceiver component, the optical transceiver component is connected to the optical receiving and driving chip, and is used for receiving and transmitting the target optical signal; an optical fiber connector, the optical fiber connector is connected to the optical transceiver component, and is used for sending the target optical signal to the optical fiber line.

[0024] In some embodiments, the light emitted by the light emitting device is a continuous frequency light wave.

[0025] In some embodiments, the light emitting device includes: a laser for emitting laser light; a frequency modulation signal source for sending a frequency modulation signal; a single sideband modulator, connected to the laser and the frequency modulation signal source, and is used for modulating the laser light into a continuous frequency light wave according to the frequency modulation signal.

[0026] In some embodiments, the light emitting device further includes: an integrated optical amplifier, the integrated optical amplifier is connected to the single sideband modulator, and is used for amplifying the continuous frequency light wave, and the amplified continuous frequency light wave is projected onto the optoelectronic array.

[0027] In some embodiments, the light emitting device further includes: a laser driving circuit, connected to the laser, for controlling the light emitting period of the laser, wherein there is an intermittent period between two adjacent light emitting periods.

[0028] In some embodiments, the target object information is point cloud information including the distance, speed, and azimuth angle of the target object.

[0029] In some embodiments, the radar device further includes: a row and column selection control circuit, connected to the control module and the optoelectronic array, for controlling the output of the reference electrical signal and the detection electrical signal collected by each optoelectronic unit in the optoelectronic array.

[0030] In some embodiments, the radar device further includes: a signal processing module, connected to the optoelectronic array, for processing the reference electrical signal and the detection electrical signal and performing data format conversion.

[0031] In some embodiments, the signal processing module includes: a coupler, connected to the optoelectronic array, for coupling the reference electrical signal and the detection electrical signal and outputting a coupled signal; a balanced amplifier, connected to the coupler, for performing balanced processing on the coupled signal; a signal amplification circuit, connected to the balanced amplifier, for amplifying the balanced coupled signal and outputting an amplified signal; an analog-to-digital conversion circuit, connected to the signal amplification circuit, for converting the amplified signal into a digital signal.

[0032] In some embodiments, the radar device further includes: a control module, connected to the light emitting device and the optoelectronic array, for acquiring the reference electrical signal and the detection electrical signal output by the optoelectronic array, and obtaining target object information based on the reference electrical signal and the detection electrical signal.

[0033] In some embodiments, the radar device further includes: a power supply module, connected to each power-consuming module of the radar device, for supplying power to each power-consuming module.

[0034] In some embodiments, the radar device further includes: a bus interface, connected to the control module, for receiving a wake-up instruction on the bus when the radar device is in a sleep state.

[0035] To achieve the above object, the communication system according to the third aspect embodiment of the present invention includes an optical fiber line; a main control module, the main control module is connected to the optical fiber line, for acquiring the optical signal transmitted on the optical fiber line and generating control information based on the optical signal; the optical signal at least includes the target object information detected by the radar device.

[0036] According to the communication system of the embodiments of the present invention, the target information of the radar device is transmitted by optical fiber communication. The transmission bandwidth of optical fiber communication can be as high as 25 Gbps, which is much higher than the Ethernet used by existing lidar, and the speed is faster. Moreover, the radar device using optical fiber communication transmits optical signals in the optical fiber instead of the traditional current form, has natural immunity and stability to electromagnetic fields, and has good anti-interference ability.

[0037] In some embodiments, the main control module includes: an optoelectronic conversion unit, which is connected to the optical fiber line and is used to convert the optical signal transmitted on the optical fiber line into an electrical signal; a control unit, which is connected to the optoelectronic conversion unit and is used to obtain control information according to the electrical signal.

[0038] An embodiment of the fourth aspect of the present invention provides an electronic and electrical system, including: the radar device described in the above embodiments.

[0039] According to the electronic and electrical system 300 of the embodiments of the present invention, through the radar device 200, imaging data can be obtained at one time without splicing multiple transceiver modules. Using an optoelectronic array can have a larger field of view angle, obtain a larger perception range, and the cost is low.

[0040] In some embodiments, the electronic and electrical system further includes an information acquisition device, and the information acquisition device is used to acquire environmental information.

[0041] Moreover, using optical fiber communication to transmit information has a fast speed and good anti-interference ability. Accurate vehicle positioning and navigation can be achieved in an environment with weak signals without any additional sensors.

[0042] In some embodiments, the electronic and electrical system further includes the communication system of the above embodiments.

[0043] In some embodiments, the information acquisition device includes at least one of a camera and a millimeter-wave radar.

[0044] An embodiment of the fifth aspect of the present invention provides a vehicle, including: the radar device described in the above embodiments; or, the communication system described in the above embodiments; or, an actuator and an electronic and electrical system, and the electronic and electrical system is connected to the actuator.

[0045] According to the vehicle of the embodiments of the present invention, through the radar device or the electronic and electrical system of the above embodiments, imaging data can be obtained at one time without splicing multiple transceiver modules, and no mechanical or micro-mechanical vibration structure is required, achieving the purpose of reducing costs and being purely solid-state. Using the communication system of the above embodiments, the communication speed is faster. Moreover, using optical fiber communication to transmit information has a fast speed and good anti-interference ability. Accurate vehicle positioning and navigation can be achieved in an environment with weak signals without any additional sensors.

[0046] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which:

[0048] Figure 1 is a schematic diagram of an optoelectronic array according to an embodiment of the present invention;

[0049] Figure 2 in (1) is a schematic diagram of a hexagonal optoelectronic unit structure according to an embodiment of the present invention, Figure 2 in (2) is a schematic diagram of a hexagonal optoelectronic unit receiving an optical signal according to an embodiment of the present invention;

[0050] Figure 3 is a schematic diagram of a spherical array according to an embodiment of the present invention;

[0051] Figure 4 is a schematic diagram of a first stacked structure according to an embodiment of the present invention;

[0052] Figure 5 is a schematic diagram of a second stacked structure according to an embodiment of the present invention;

[0053] Figure 6 is a block diagram of a radar device according to an embodiment of the present invention;

[0054] Figure 7 is a schematic diagram of a radar device according to an embodiment of the present invention;

[0055] Figure 8 is a schematic diagram of the hardware of a radar device according to an embodiment of the present invention;

[0056] Figure 9 is a schematic diagram of the technical architecture of a radar device according to an embodiment of the present invention;

[0057] Figure 10 is a schematic diagram of the light emission cycle of a laser according to an embodiment of the present invention;

[0058] Figure 11 is a schematic diagram of a communication system according to an embodiment of the present invention;

[0059] Figure 12 is a schematic diagram of an electronic and electrical system according to an embodiment of the present invention;

[0060] Figure 13Schematic diagram of an electro - electrical system according to an embodiment of the present invention;

[0061] Figure 14 Structural block diagram of a vehicle according to an embodiment of the present invention.

[0062] Reference signs:

[0063] Vehicle 400;

[0064] Actuator 401; Electro - electrical system 300;

[0065] Radar device 200;

[0066] Optoelectronic array 100;

[0067] Optoelectronic unit 110; Light - transmissive part 1; First acquisition part 112; Second acquisition part 113; First stacked structure 120; Second stacked structure 130; First optoelectronic conversion layer 121; First pixel transistor layer 122; First read - out circuit layer 123; Second optoelectronic conversion layer 131; Second pixel transistor layer 132; Second read - out circuit layer 133; Control module 201; Row - column selection control circuit 203; Power supply module 204; Bus interface 205; Memory 206; Light - emitting device 210; Electro - optical conversion module 220; Signal processing module 230; Laser 211; Frequency - modulated signal source 212; Single - sideband modulator 213; Integrated optical amplifier 214; Laser driving circuit 215; Protocol conversion chip 221; Optical receiving and driving chip 222; Optical transceiver module 223; Optical fiber connector 224; Coupler 231; Balanced amplifier 232; Signal amplification circuit 233; Analog - to - digital conversion circuit 234; Information acquisition device 310; Main control module 320; Communication system 330; Camera 311; Millimeter - wave radar 312; Optoelectronic conversion unit 321; Control unit 322. Detailed implementation manners

[0068] Embodiments of the present invention will be described in detail below. The embodiments described with reference to the drawings are exemplary. Embodiments of the present invention will be described in detail below.

[0069] An embodiment of the first aspect of the present invention provides an optoelectronic array. This array can obtain a reference optical signal and a detection optical signal at one time, provide data for one - time imaging, have a larger field of view angle, and can obtain a larger perception range.

[0070] As Figure 1 shown, the optoelectronic array 100 includes: a plurality of optoelectronic units 110.

[0071] Among them, the plurality of optoelectronic units 110 are arranged in an array, as Figure 2As shown in (1), each optoelectronic unit 110 includes a light-transmitting part 111, a first acquisition part 112, and a second acquisition part 113; the incident light incident on the array passes through the light-transmitting part 111, the first acquisition part 112 is used to acquire the incident light as a reference optical signal, the light passing through the light-transmitting part 111 encounters an object and is reflected by the object, and the second acquisition part 113 is used to receive the light reflected by the object as a detection optical signal.

[0072] Specifically, the light-transmitting part 111 in the optoelectronic unit 110 can transmit light, the incident light incident on the optoelectronic array 100 can pass through the light-transmitting part 111, the first acquisition part 112 is used to acquire the incident light passing through the light-transmitting part 111 as a reference optical signal, the light passing through the light-transmitting part 111 propagates forward, encounters an object and is reflected by the object, and the second acquisition part 113 receives the light reflected by the object as a detection optical signal.

[0073] The optoelectronic array according to the embodiment of the present invention can replace the scanning system in the radar device, including a plurality of optoelectronic units arranged in an array, and each optoelectronic unit includes three parts. Among them, the first acquisition part acquires the incident light as a reference optical signal, the light passing through the light-transmitting part encounters an object and is reflected by the object, and the second acquisition part receives the light reflected by the object as a detection optical signal. That is, based on the light-transmitting part, the first acquisition part, and the second acquisition part, imaging data can be obtained at one time, without splicing of multiple transceiver modules, and without mechanical or micro-mechanical vibration structures, achieving the purpose of reducing costs and being purely solid-state. And adopting an array structure, it can have a larger field of view angle and can obtain a larger sensing range.

[0074] In some embodiments, as Figure 3 shown, the array is a spherical array, and the concave surface of the spherical array is adapted to face the light-emitting device.

[0075] Specifically, a plurality of optoelectronic units 110 form a spherical array, and the concave surface of the spherical array faces the light-emitting device, so that the angles between the four corners of the spherical array and the light-emitting device form the field of view angle of the lidar. The larger the field of view angle, the larger the sensing range.

[0076] In some embodiments, as Figure 2 shown in (1), the optoelectronic unit is a hexagonal unit, and a plurality of hexagonal units are closely arranged to form a spherical array.

[0077] Specifically, in the present invention, a spherical array is innovatively used. The optoelectronic unit 110 is a hexagonal unit, and the spherical array is composed of a plurality of hexagonal units; taking the spherical array as an example in the present invention, the optoelectronic unit 110 is a hexagonal unit. The optoelectronic unit 110 can also be a rectangular array, a square array, or a rhombus, etc. For a point light-emitting device, the incidence on the spherical array can be more uniform.

[0078] In some embodiments, asFigure 2 As shown in (1), the hexagonal unit is evenly divided into a light-transmitting part 111, a first collection part 112, and a second collection part 113.

[0079] Specifically, the hexagonal unit is divided into three equal parts with the same shape. As Figure 2 shown in (2), the light-transmitting part 111 allows incident light to pass through the light-transmitting part 111, and light waves with continuous frequencies are emitted through the light-transmitting part 111. The first collection part 112 collects the incident light as a reference optical signal, and the second collection part 113 receives the light reflected by the target as a detection optical signal.

[0080] Since the basic unit is divided into three parts: a light-transmitting part 111, a first collection part 112, and a second collection part 113, it is called a spherical array. The pixel unit of the spherical array can be made very small, with a minimum of up to the micrometer level, and a relatively high angular resolution can be achieved. The angular resolution refers to the distance between two laser points emitted, which determines the sparsity of the three-dimensional modeling of the lidar.

[0081] In some embodiments, as Figure 4 shown, the first collection part 112 includes a first stacked structure 120 stacked along the thickness direction of the array; as Figure 5 shown, the second collection part 113 includes a second stacked structure 130 stacked along the thickness direction of the array; the first stacked structure 120 and the second stacked structure 130 are arranged in opposite directions along the thickness direction of the array.

[0082] Specifically, the first stacked structure 120 and the second stacked structure 130 are arranged in opposite directions along the thickness direction of the array, that is, the detection surface of the first stacked structure 120 can face the light-emitting device, while the detection surface of the second stacked structure 130 faces away from the light-emitting device, so that the light reflected by the target can be detected from the other side.

[0083] In some embodiments, as Figure 4 shown, the first stacked structure 120 includes: a first photoelectric conversion layer 121, a first pixel transistor layer 122, and a first readout circuit layer 123.

[0084] Among them, the first photoelectric conversion layer 121 is used to convert the detection optical signal into a detection electrical signal; the first pixel transistor layer 122 is correspondingly connected to the first photoelectric conversion layer 121 and is used to control the transmission of the detection electrical signal; the first readout circuit layer 123 is connected to the first pixel transistor layer 122 and is used to read out the detection electrical signal.

[0085] Specifically, the first stacked structure 120 can be understood as a stacked structure located in the first acquisition part 112. In the first stacked structure 120, the first photoelectric conversion layer 121 receives the detection light signal and converts the detection light signal into a detection electrical signal. The first pixel transistor layer 122 controls the detection electrical signal to be transmitted to the first readout circuit layer 123. The first readout circuit layer 123 reads out the detection electrical signal. The detection electrical signal can be understood as the detection electrical signal generated in the first stacked structure 120.

[0086] In some embodiments, as Figure 5 As shown, the second stacked structure 130 includes a second photoelectric conversion layer 131 , a second pixel transistor layer 132 and a second readout circuit layer 133 .

[0087] Among them, the second photoelectric conversion layer 131 is used to convert the reference light signal into a reference electrical signal; the second pixel transistor layer 132 is correspondingly connected to the second photoelectric conversion layer 131 and is used to control the transmission of the reference electrical signal; the second readout circuit layer 133 is connected to the second pixel transistor layer 132 and is used to read out the reference electrical signal.

[0088] Specifically, the second stacked structure 130 can be understood as a stacked structure located in the second acquisition unit 113. In the second stacked structure 130, the second photoelectric conversion layer 131 receives the reference light signal and converts the reference light signal into a reference electrical signal. The second pixel transistor layer 132 controls the transmission of the reference electrical signal to the second readout circuit layer 133, and the second readout circuit layer 133 reads the reference electrical signal.

[0089] For example, by comparing the reference light signal collected by the first acquisition unit with the detection light signal received by the second acquisition unit, distance, azimuth, and velocity information can be obtained. The reference light signal has a similar shape to the detection light signal, but is offset in time by the amount of time Δt taken for the two-way travel from the radar to the target, which is proportional to the distance to the target R, as shown in the following formula:

[0090]

[0091] where c is the speed of light.

[0092] The reference light signal and detection light signal of each photoelectric unit are obtained through the row and column selection circuit. The target's flight distance is determined by measuring the flight time of the target detection light signal. At the same time, since the frequency of a continuous light wave is a signal whose frequency increases and decreases with time, the reference light signal and the detection light signal are compared at any given moment to observe the frequency shift Δf. Due to the Doppler effect, the additional frequency shift f of the target approaching or moving away from the radar can be detected. D, so as to determine the speed of the target. Finally, if different pixels are considered and a fixed distance of two or more spherical arrays is used, the direction of arrival of the reflected signal of the target object can be determined to obtain the two-dimensional or three-dimensional position of the target.

[0093] A triangular wave frequency-swept signal is generated by a single-sideband modulator. The light-transmitting part serves as the transmitting end, the first acquisition part serves as the transmitting reference end, and the second acquisition part serves as the receiving end. The distance, speed, and azimuth angle are detected through the beat frequency signal after the mixing of the reference light and the detection light, and a high resolution can be obtained. The spherical optoelectronic array used can replace the laser scanning deflection mechanism of the original lidar, and the signals of the transmitted light and the received light can be obtained in the basic unit, so as to achieve the purpose of pure solid state.

[0094] In some embodiments, the light-transmitting part 111 includes light-transmitting glass.

[0095] Specifically, the area within the light-transmitting part 111 allows light to penetrate. Due to the transparent or semi-transparent characteristics of the light-transmitting glass itself, it can be used as a light-transmitting material. Therefore, the light-transmitting part 111 includes light-transmitting glass.

[0096] An embodiment of the second aspect of the present invention provides a radar device, as Figure 6 shown, the radar device 200 includes an optoelectronic array 100 and a light-emitting device 210.

[0097] Among them, the light-emitting device 210 is used to emit light, and the light is incident on the optoelectronic array 100. The optoelectronic array 100 adopts the three-part structure of the above embodiment. Specifically, the incident light incident on the optoelectronic array passes through its light-transmitting part. Its first acquisition part is used to acquire the incident light as a reference optical signal. The light passing through the light-transmitting part is reflected by the target object when it encounters the target object. Its second acquisition part is used to receive the light reflected by the target object as a detection optical signal. The reference optical signal and the detection optical signal can be used as imaging data.

[0098] According to the radar device of the embodiment of the present invention, by using the optoelectronic array of the above embodiment to replace the scanning system, imaging data can be obtained at one time, without the need for splicing of multiple transceiver modules, and without mechanical or micromachined vibration structures, so as to achieve the purpose of reducing costs and pure solid state. Moreover, by adopting an array structure, a larger field of view angle can be obtained, and a larger sensing range can be acquired.

[0099] In some embodiments, the radar device 200 further includes a control module 201. The control module 201 is connected to the light-emitting device 210 and the optoelectronic array 100, and is used to obtain the reference electrical signal and the detection electrical signal output by the optoelectronic array 100, and obtain target object information according to the reference electrical signal and the detection electrical signal.

[0100] Specifically, when the radar device 200 is operating, the control module 201 controls the light emitting device 210 to emit light. One path of the emitted light of the light emitting device 210 is collected by the optoelectronic array 100 as a reference optical signal, and the other path is transmitted through the light transmissive part in the optoelectronic array and continues to propagate. After encountering a target object, it is reflected by the target object and received by the optoelectronic array 100 as a detection optical signal. The optoelectronic array 100 converts the reference optical signal and the detection optical signal into a reference electrical signal and a detection electrical signal, and sends the reference electrical signal and the detection electrical signal to the control module 201. The control module 201 obtains target object information based on the reference electrical signal and the detection electrical signal.

[0101] For example, as Figure 7 shown, for the problem of laser deflection, the radar device 200 of the present invention provides a spherical array to obtain the reference optical signal and the detection optical signal at one time, and calculates and processes them into point cloud information with target depth, angle, and speed through the signal processing unit. For the problem of signal transmission, the radar device 200 provides a fiber optic communication protocol to process the target point cloud information into modulated light and transmit it in the optical fiber. The developed radar device 200 suitable for in-vehicle fiber optic communication meets the requirements of sensor intelligence, integration, and high speed, and also has higher safety, stronger anti-electronic interference ability, larger bandwidth, lower network transmission delay, faster network response speed, etc., and can reduce the vehicle weight because there are fewer wire harnesses.

[0102] For the radar device according to an embodiment of the present invention, the control module controls the light emitting device to emit light, and the optoelectronic array obtains the reference electrical signal and the detection electrical signal output by the optoelectronic array. Further, the distance, speed, and azimuth angle are calculated thereby to achieve the purpose of cost reduction and the requirement of pure solid state. And in some embodiments, the use of fiber optic communication to transmit information has a fast speed and good anti-interference ability, which will be described in detail below.

[0103] In some embodiments, as Figure 8 shown, the radar device 200 further includes: an electro-optical conversion module 220.

[0104] Wherein, the electro-optical conversion module 220 is connected to the control module 201, and the electro-optical conversion module 220 is also adapted to be connected to an optical fiber line, and is used to convert the target object information obtained through the optoelectronic array into a target optical signal and send the target optical signal to the optical fiber line.

[0105] Specifically, when the radar device 200 is operating, the control module 201 controls the optical emission device 210 to emit light. One path of the emitted light of the optical emission device 210 is collected by the optoelectronic array 100 as a reference optical signal, and the other path is reflected by the target object after encountering the target object and received by the optoelectronic array 100 as a detection optical signal. The optoelectronic array 100 converts the reference optical signal and the detection optical signal into a reference electrical signal and a detection electrical signal, and sends the reference electrical signal and the detection electrical signal to the control module 201. The control module 201 obtains target object information based on the reference electrical signal and the detection electrical signal. At the same time, the control module 201 sends the target object information to the electro-optical conversion module 220. The electro-optical conversion module 220 converts the target object information into a target optical signal and sends the target optical signal to the optical fiber line for transmission.

[0106] Among them, in the embodiment, the target object information is at least carried in the reference electrical signal and the detection electrical signal obtained by the optoelectronic array; and / or, the target object information is carried in the target object electrical signal, and the target object electrical signal is obtained based on the reference electrical signal and the detection electrical signal output by the optoelectronic array.

[0107] In some embodiments, as Figure 8 shown, the electro-optical conversion module 220 further includes: a protocol conversion chip 221, an optical reception driving chip 222, an optical transceiver module 223, and an optical fiber connector 224.

[0108] Among them, the protocol conversion chip 221 is connected to the control module 2, and is used to convert the Ethernet protocol of the target object information into an optical network protocol; the optical reception driving chip 222 is connected to the protocol conversion chip 221, and is used to convert the target object information into a target optical signal; the optical transceiver module 223 is connected to the optical reception driving chip 222, and is used to transmit and receive the target optical signal; the optical fiber connector 224 is connected to the optical transceiver module 223, and is used to send the target optical signal to the optical fiber line.

[0109] Specifically, the controller 201 first sends the target object information to the protocol conversion chip 221. The protocol conversion chip 221 converts the Ethernet protocol of the point cloud data into an optical network protocol and sends it to the optical reception driving chip 222. The optical reception driving chip 222 then converts the point cloud data into a target optical signal. The optical transceiver module 223 sends the received target optical signal to the optical fiber connector 224, and the optical fiber connector sends the target optical signal to the optical fiber line.

[0110] In some embodiments, the light emitted by the optical emission device 210 is a continuous frequency light wave. For example, the optical emission device 210 is used to modulate a laser into a continuous frequency light wave and emit the continuous frequency light wave.

[0111] In some embodiments, as Figure 9As shown, the optical transmitting device 210 includes: a laser 211, a frequency modulation signal source 212, and a single-sideband modulator 213.

[0112] Among them, the laser 211 is used to emit laser light; the frequency modulation signal source 212 is used to send frequency modulation signals; the single-sideband modulator 213 is connected to the laser 211 and the frequency modulation signal source 212, and is used to modulate the laser light into a light wave with continuous frequency according to the frequency modulation signal.

[0113] Specifically, the control module 201 calculates and processes the received signals, drives the laser light source with continuous frequency, and controls each functional unit. The control module 201 needs to store data and perform calculations, and requires a memory 206 to be configured. The optical transmitting device 210 uses a frequency modulation continuous wave system to emit continuous waves at a specific frequency, and then the frequency modulation signal source 212 and the single-sideband modulator 213 modulate it within a certain period of time. The laser driving circuit is responsible for driving the laser 211 to emit laser light, periodically switches the laser 211 at a certain time T, turns off after emitting a laser light, and emits the next cycle of laser light after the received signal is read.

[0114] In some embodiments, as Figure 9 shown, the optical transmitting device 210 further includes: an integrated optical amplifier 214.

[0115] Among them, the integrated optical amplifier 214 is connected to the single-sideband modulator 213, and is used to amplify the light wave with continuous frequency, and the amplified light wave with continuous frequency is projected onto the optoelectronic array.

[0116] Specifically, the integrated optical amplifier 214 uses active particles in the light-exciting material (such as an optical fiber or semiconductor material doped with rare earth ions) to amplify the optical signal. When the input optical signal passes through the integrated optical amplifier 214, it will interact with the active particles, thereby triggering the light-exciting process and releasing photons with the same frequency, phase, and direction as the input optical signal to achieve the amplification of the optical signal.

[0117] In some embodiments, as Figure 9 shown, the optical transmitting device 210 further includes: a laser driving circuit 215.

[0118] Among them, the laser driving circuit 215 is connected to the laser 211, and is used to control the light-emitting cycle of the laser 211, and there is an intermittent period between two adjacent light-emitting cycles.

[0119] Specifically, the laser driving circuit 215 controls the light-emitting cycle of the laser 211. Each light-emitting cycle is provided with an intermittent period, so that there is an intermittent period between two adjacent light-emitting cycles. The optical transmitting device is turned off during the intermittent period for signal processing and calculation, and emits and receives radar signals such as Figure 10As shown, the time required for the radar device 200 to reach the target can be calculated according to the formula.

[0120] In some embodiments, the target object information is point cloud information including the distance, speed, and azimuth angle of the target object.

[0121] Specifically, the detection principle used by the radar device 200 is the time-of-flight method. By continuously sending optical pulses to the target and then using a laser detector to receive the light returned from the object, a laser detector is configured at the transmitting end to detect the incident light. Since the speed of light is known and constant, the distance point cloud information of the target object is obtained by detecting the round-trip time of the optical pulse. The radar device 200 emits continuous light modulated by a carrier wave. By measuring the frequency difference between the transmitted wave and the echo, the target speed point cloud information is obtained. The radar device 200 can obtain the instantaneous speed of each point, which has one more dimension of speed information than traditional 3D lidar, that is, four-dimensional lidar. Compared with traditional lidar, the radar device 200 of the present invention has a high signal-to-noise ratio and low power consumption. The radar device 200 can obtain the point cloud information of the azimuth angle by comparing the reference optical signal and the detection optical signal received by the optoelectronic array.

[0122] Point cloud is a data structure representing the surface features of an object in three-dimensional space. It consists of a large number of spatial points arranged in a certain order to represent the geometric shape and texture information of the object surface. Some point clouds also contain additional information such as color, reflection intensity, and normal vector.

[0123] For example, the technology used in the present invention is a laser optical carrier frequency modulation light source, and the array receives lidar. The obtained point cloud data is transmitted through optical fiber communication. The radar device 200 of the present invention uses a gated spherical optoelectronic array instead of a scanner, that is, a pure solid-state lidar without a scanning device. The definition of pure solid-state is that there is essentially no mechanical or micro-mechanical vibration, and the continuously frequency-modulated laser is the modulated light, which can reduce the interference of external light.

[0124] When traditional lidar encounters sandstorm weather, since there is no speed information, the system recognizes it as a wall. However, with the present device and system, due to the additional speed information of the target points, sand dust particles and stationary obstacles can be perfectly distinguished. When entering a tunnel or a signal-free scene, since the position and relative speed of surrounding objects are obtained, with the support of powerful software and computing power, the self-state and external state at the next time node can be predicted, so as to replace IMU (Inertial Measurement Unit) inertial navigation or GPS (Global Positioning System) navigation. IMU inertial navigation + GPS navigation has a large deviation in a signal-free scene, and the present system can obtain accurate vehicle positioning and navigation from four-dimensional point cloud information.

[0125] In some embodiments, as Figure 8 shown, the radar device 200 further includes: a row-column selection control circuit 203.

[0126] Among them, the row-column selection control circuit 203 is connected to the control module 201 and the optoelectronic array 100, and the row-column selection control circuit 203 is used to control the output of the reference electrical signal and the detection electrical signal collected by each optoelectronic unit in the optoelectronic array.

[0127] Specifically, after each optoelectronic unit 110 in the optoelectronic array 100 collects the reference electrical signal and the detection electrical signal, the row-column selection control circuit 203 controls the reference electrical signal and the detection electrical signal collected by the optoelectronic unit 110 to be output to the control module 201, and the control module 201 obtains the target object information according to the reference electrical signal and the detection electrical signal, and determines the point cloud information of the distance, speed and azimuth angle of the target object.

[0128] In some embodiments, as Figure 8 shown, the radar device 200 further includes: a signal processing module 230.

[0129] Among them, the signal processing module 230 is connected to the optoelectronic array 100 and the control module 201, and the signal processing module 230 is used to process the reference electrical signal and the detection electrical signal and perform data format conversion, for example, convert it into the data mode required by the control module 201.

[0130] Specifically, after each optoelectronic unit 110 in the optoelectronic array 100 collects the reference electrical signal and the detection electrical signal, the row-column selection control circuit 203 controls the reference electrical signal and the detection electrical signal collected by the optoelectronic unit 110 to be output to the signal processing module 230, the signal processing module 230 processes the reference electrical signal and the detection electrical signal and converts them into the data mode required by the control module 201, and the signal processing module 230 sends the processed data to the control module 201, and the control module 201 obtains the target object information according to the reference electrical signal and the detection electrical signal, and determines the point cloud information of the distance, speed and azimuth angle of the target object.

[0131] In some embodiments, as Figure 9 shown, the signal processing module 230 includes: a coupler 231, a balanced amplifier 232, a signal amplification circuit 233 and an analog-to-digital conversion circuit 234.

[0132] Among them, the coupler 231 is connected to the optoelectronic array 100 and is used to couple the reference electrical signal and the detection electrical signal and output a coupled signal; the balanced amplifier 232 is connected to the coupler 231 and is used to perform balanced processing on the coupled signal; the signal amplification circuit 233 is connected to the balanced amplifier 232 and is used to amplify the balanced coupled signal and output an amplified signal; the analog-to-digital conversion circuit 234 is connected to the signal amplification circuit 233 and the control module 201 and is used to convert the amplified signal into a digital signal.

[0133] Specifically, after each optoelectronic unit 110 in the optoelectronic array 100 collects the reference electrical signal and the detection electrical signal, the row-column selection control circuit 203 controls the reference electrical signal and the detection electrical signal collected by the optoelectronic unit 110 to be output to the signal processing module 230. In the processing module 230, the coupler 231 couples the reference electrical signal and the detection electrical signal and outputs the coupled signal to the balanced amplifier 232. The balanced amplifier 232 performs balanced processing on the coupled signal and outputs the balanced coupled signal to the signal amplification circuit 233. The signal amplification circuit 233 amplifies the balanced coupled signal and outputs the amplified signal to the analog-to-digital conversion circuit 234. The analog-to-digital conversion circuit 234 converts the amplified signal into a digital signal and sends the digital signal to the control module 201.

[0134] In some embodiments, as Figure 8 shown, the radar device 200 further includes: a power supply module 204.

[0135] Among them, the power supply module 204 is connected to each power-consuming module of the radar device 200 and is used to supply power to each power-consuming module.

[0136] In some embodiments, as Figure 8 shown, the radar device 200 further includes: a bus interface 205.

[0137] Among them, the bus interface 205 is connected to the control module 201 and is used to receive a wake-up instruction on the bus when the radar device 200 is in a sleep state.

[0138] Specifically, the sleep wake-up mechanism of the radar device 200 of the present invention communicates through the CAN protocol. When the radar device 200 is in a low-power sleep state, the main control chip in the background domain sends a wake-up instruction to the CAN network. The radar device 200 parses the wake-up instruction from the CAN network and turns on the power supplies of each function to enter the normal working mode.

[0139] For example, the present invention provides a spherical array radar device 200 for optical fiber communication, as Figure 8 、 Figure 9As shown in the figure, the radar device 200 includes: a control module 201, a row and column selection control circuit 203, a power supply module 204, a bus interface 205, a memory 206, an optical emission device 210, an electro-optical conversion module 220, and a signal processing module 230.

[0140] In the radar device 200 of the present invention, fiber optic communication is innovatively used. The target point cloud information after being calculated and processed by the control module 201 is converted into an optical signal through electro-optical conversion and transmitted in the optical fiber. The signal protocol processed by the control module 201 is the RGMII (Reduced Gigabit Media Independent Interface) protocol. The optical protocol conversion chip 221 of the electro-optical conversion module 220 can convert the Ethernet RGMII protocol into the PON (Passive Optical Network) protocol, and then the optical receiving and driving chip 222 and the optical transceiver module 223 convert the electrical signal into an optical signal for communication in the optical fiber. PON is a point-to-multipoint passive optical access technology that can provide high bandwidth and is an important technology for electrical signal access to the optical network. The PON system adopts a single-fiber bidirectional transmission technology, and only one optical fiber is required to complete the bidirectional data transmission from the optical line terminal to the optical network unit. The main components used in the electro-optical conversion circuit are: a protocol conversion chip 221, an optical receiving and driving chip 222, an optical transceiver module 223, and an optical fiber connector 224.

[0141] The radar device 200 of the present invention is mainly applied to automobiles and is one of the core sensors of the vehicle assisted driving system. It breaks through the use of a spherical optoelectronic array and changes to fiber optic communication, which can send warning perception information faster, provide a larger scale of perception data for the central computing unit to calculate and make decisions, and has great development potential. At the same time, due to the use of continuous frequency light waves, the speed value of the target can be obtained through the Doppler effect, with one more dimension of speed data than traditional lidar, so it can be called a four-dimensional lidar.

[0142] Compared with existing lidars, the radar device 200 of the present invention uses a gated spherical optoelectronic array instead of a laser scanner to emit laser light and obtain reference incident reference light and detection light signals at one time, thereby calculating distance, speed, and azimuth angle, and having one more dimension of speed data than traditional lidars. This achieves the purpose of cost reduction and the requirement for all-solid state. The lidar point cloud information is transmitted using fiber optic communication. The transmission bandwidth of fiber optic communication can be as high as 25 Gbps, which is much higher than the Ethernet used by existing lidars and has a faster speed. The lidar using fiber optic communication transmits optical signals in the fiber instead of the traditional current form, has natural immunity and stability to electromagnetic fields, and has good anti-interference ability. It has a sleep and wake-up function and meets the requirement of low power consumption. It can better fit the concept of multi-sensor information pre-fusion, gather the original data of multiple independent environmental perception sensors (such as cameras, lidars, etc.) to the main control unit for information processing and unified decision-making. It can achieve accurate vehicle positioning and navigation in an environment with weak signals without any additional sensors (such as IMU or GPS).

[0143] A third aspect embodiment of the present invention proposes a communication system.

[0144] As Figure 11 shown, the communication system 330 includes an optical fiber line and a main control module 320. The main control module is connected to the optical fiber line and is used to obtain the optical signal transmitted on the optical fiber line and generate control information according to the optical signal.

[0145] In an embodiment, the optical signal transmitted on the optical fiber line may at least include the target object information detected by the radar device 200 in the above embodiment.

[0146] According to the communication system 330 of the present invention example, the target object information of the radar device is transmitted using fiber optic communication. The transmission bandwidth of fiber optic communication can be as high as 25 Gbps, which is much higher than the Ethernet used by existing lidars and has a faster speed. Moreover, the lidar using fiber optic communication transmits optical signals in the fiber instead of the traditional current form, has natural immunity and stability to electromagnetic fields, and has good anti-interference ability.

[0147] In some embodiments, as Figure 11 shown, the main control module 320 includes: a photoelectric conversion unit 321 and a control unit 322.

[0148] Among them, the photoelectric conversion unit 321 is connected to the optical fiber line and is used to convert the optical signal transmitted on the optical fiber line into an electrical signal; the control unit 322 is connected to the photoelectric conversion unit 321 and is used to obtain control information according to the electrical signal.

[0149] In an embodiment, the control information may be control information for controlling an actuator generated based on an optical signal transmitted on an optical fiber line, such as sensing information, and the actuator may be a device that performs an action according to the control information.

[0150] An embodiment of the fourth aspect of the present invention provides an electronic and electrical system 300, as Figure 12 shown, the electronic and electrical system 300 includes a radar device 200. The radar device 200 may adopt the structure of the above embodiment and will not be described herein again.

[0151] In some embodiments, the electronic and electrical system 300 may include, but is not limited to, an autonomous driving system.

[0152] According to the electronic and electrical system 300 of the embodiment of the present invention, through the radar device 200, imaging data can be obtained at one time, without the need for multi-transceiver module splicing. Using an optoelectronic array can have a larger field of view angle, obtain a larger sensing range, and have a low cost.

[0153] In some embodiments, as Figure 12 shown, the electronic and electrical system 300 further includes an information acquisition device 310.

[0154] Among them, the information acquisition device 310 is used to acquire environmental information.

[0155] In some embodiments, as Figure 12 shown, the information acquisition device 310 includes at least one of a camera 311 and a millimeter-wave radar 312.

[0156] Specifically, the camera can acquire rich texture, color and other information, which is helpful for the resolution and classification of object information, has a large field of view range, and can cover a wider area; the millimeter-wave radar can accurately measure the distance and speed of the target, and is especially good at detecting moving targets. The millimeter-wave radar is not easily affected by bad weather (such as rain, snow, haze, etc.) and can work stably in various environments. The camera 311 and the millimeter-wave radar 312 are used in combination to make up for their respective deficiencies, improve the sensing ability of the information acquisition device 310, and realize the comprehensive perception and accurate judgment of the surrounding environment.

[0157] As Figure 13 shown, the electronic and electrical system 300 further includes the communication system of the above embodiment. The main control module 320 is connected to the radar device 200 and the information acquisition device 310 through an optical fiber, and is used to obtain control information according to the target object information output by the radar device and the environmental information collected by the information acquisition device.

[0158] In an embodiment, the target object information output by the radar device and the environmental information collected by the information collection device are both sent to the optical fiber line, that is, optical fiber communication is adopted, which has a fast transmission speed and high anti-interference ability.

[0159] Specifically, the main control module 320 is connected to the radar device 200 and the information collection device 310 through optical fibers, and is used to obtain control information according to the target object information and environmental information sent by the radar device 200. Specifically, the main control module 320 acquires the environmental information collected by the information collection device 310 and the target object information obtained by the radar device 200. Optical fiber communication is used between the devices, and the transmission speed is fast, which can perfectly solve the signal volume ratio problem encountered in the transmission of a large amount of point cloud data. At the same time, it can also better fit the concept of multi-sensor information pre-fusion, that is, at the original layer, the original images of the information collection device 310 and the radar device 200 are fused together, and are transmitted through optical fibers and gathered to the main control module 320 for unified processing and calculation, and finally an instruction of the result layer is output.

[0160] According to the electronic and electrical system of the embodiment of the present invention, environmental information is collected by the radar device and the information collection device, and the main control module controls the vehicle to drive according to the collected information, which can better fit the concept of multi-sensor information fusion. The original data of multiple independent environmental perception sensors are gathered to the main control module for information processing and unified decision-making. Using optical fiber communication to transmit information has a fast speed and good anti-interference ability, and accurate vehicle positioning and navigation can be realized in an environment with weak signals without any additional sensors.

[0161] Figure 13 The perception information of the electronic and electrical system is taken as an example of the optical signal transmitted by the optical fiber. As Figure 13 shown, specifically, the main control module 320 acquires the environmental information collected by the information collection device 310 and the target object information obtained by the radar device 200. Optical fiber communication is used between the devices, and the transmission speed is fast. At the same time, it can also better fit the concept of multi-sensor information fusion, that is, at the original layer, the original images of the information collection device 310 and the radar device 200 are fused together, and are transmitted through optical fibers and gathered to the main control module 320. The electrical conversion unit 321 in the main control module 320 converts the optical signal transmitted by the optical fiber into an electrical signal, and the control unit 322 obtains control information according to the electrical signal, so as to control the vehicle to drive.

[0162] An embodiment of the fifth aspect of the present invention provides a vehicle.

[0163] In some embodiments, the vehicle includes the radar device of the above embodiment. Through the radar device or the electronic and electrical system of the above embodiment, imaging data can be obtained at one time, without the need for multi-transceiver module splicing, and without a mechanical or micro-mechanical vibration structure, achieving the purpose of reducing costs and being purely solid-state.

[0164] Alternatively, in some embodiments, the vehicle includes the communication system of the above embodiments, which has a faster communication speed. Moreover, using optical fiber communication to transmit information is fast and has good anti-interference ability. Accurate vehicle positioning and navigation can be achieved in an environment with weak signals without any additional sensors.

[0165] Alternatively, in some embodiments, as Figure 14 shown, vehicle 400 includes actuator 401 and electrical and electronic system 300.

[0166] Among them, electrical and electronic system 300 is connected to actuator 401 and is used to control actuator 401 according to control information.

[0167] For the vehicle according to the embodiment of the present invention, through the radar device or the electrical and electronic system of the above embodiments, imaging data can be obtained at one time, without splicing of multiple transceiver modules, and without mechanical or micro-mechanical vibration structures, achieving the purpose of reducing costs and being purely solid-state. By adopting the communication system of the above embodiments, the communication speed is faster. Moreover, using optical fiber communication to transmit information is fast and has good anti-interference ability. Accurate vehicle positioning and navigation can be achieved in an environment with weak signals without any additional sensors.

[0168] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0169] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. An optoelectronic array, characterized in that, Comprising: A plurality of optoelectronic units, the plurality of optoelectronic units being arranged in an array; Each of the optoelectronic units includes a light-transmitting portion, a first acquisition portion, and a second acquisition portion; Wherein, incident light incident on the array passes through the light-transmitting portion, the first acquisition portion is used to acquire the incident light as a reference optical signal, the light passing through the light-transmitting portion encounters a target and is reflected by the target, and the second acquisition portion is used to receive the light reflected by the target as a detection optical signal.

2. The optoelectronic array according to claim 1, characterized in that, The array is a spherical array, and the concave surface of the spherical array is adapted to face the light-emitting device.

3. The optoelectronic array according to claim 2, wherein, The optoelectronic unit is a hexagonal unit, and a plurality of the hexagonal units are closely arranged to form the spherical array.

4. The optoelectronic array according to claim 3, characterized in that, The hexagonal unit is evenly divided into the light-transmitting portion, the first acquisition portion, and the second acquisition portion.

5. The optoelectronic array according to any one of claims 1-4, characterized in that The first acquisition portion includes a first stacked structure stacked along the thickness direction of the array; The second acquisition portion includes a second stacked structure stacked along the thickness direction of the array; The first stacked structure and the second stacked structure are arranged in opposite directions in the thickness direction of the array.

6. The optoelectronic array according to claim 5, characterized in that, The first stacked structure includes: A first optoelectronic conversion layer, the first optoelectronic conversion layer being used to convert the detection optical signal into a detection electrical signal; A first pixel transistor layer, the first pixel transistor layer being correspondingly connected to the first optoelectronic conversion layer, for controlling the transmission of the detection electrical signal; A first readout circuit layer, the first readout circuit layer being connected to the first pixel transistor layer, for reading out the detection electrical signal.

7. The optoelectronic array according to claim 6, wherein The second stacked structure includes: A second optoelectronic conversion layer, the second optoelectronic conversion layer being used to convert the reference optical signal into a reference electrical signal; A second pixel transistor layer, the second pixel transistor layer being correspondingly connected to the second optoelectronic conversion layer, for controlling the transmission of the reference electrical signal; A second readout circuit layer, the second readout circuit layer being connected to the second pixel transistor layer, for reading out the reference electrical signal.

8. The optoelectronic array according to any one of claims 1-4, characterized in that, The light-transmitting portion includes light-transmitting glass.

9. A radar device, characterized in that, Comprising: The optoelectronic array according to any one of claims 1-8; A light-emitting device for emitting light, the light being incident on the optoelectronic array.

10. The radar device according to claim 9, characterized in that, The radar device further includes: An electro-optical conversion module, the electro-optical conversion module being adapted to be connected to an optical fiber line, for converting the target information obtained through the optoelectronic array into a target optical signal and sending the target optical signal to the optical fiber line.

11. The radar device according to claim 10, characterized in that, The target information is at least carried on the reference electrical signal and the detection electrical signal output by the optoelectronic array; And / or The target information is carried on a target electrical signal, the target electrical signal being obtained based on the reference electrical signal and the detection electrical signal output by the optoelectronic array.

12. The radar device according to claim 10, characterized in that The electro-optical conversion module includes: A protocol conversion chip, the protocol conversion chip being connected to the control module, for converting the Ethernet protocol of the target information into an optical network protocol; An optical receiving and driving chip, connected to the protocol conversion chip, for converting the target information into the target optical signal; An optical transceiver component, which is connected to the optical receiving and driving chip and is used for receiving and transmitting the target optical signal; An optical fiber connector, which is connected to the optical transceiver component and is used for sending the target optical signal to the optical fiber line.

13. The radar device according to claim 9, characterized in that, The light emitted by the light emitting device is a continuous frequency light wave.

14. The radar device according to claim 13, characterized in that, The light emitting device includes: A laser, which is used for emitting laser light; A frequency modulation signal source, which is used for sending a frequency modulation signal; A single sideband modulator, which is connected to the laser and the frequency modulation signal source and is used for modulating the laser light into the continuous frequency light wave according to the frequency modulation signal.

15. The radar device according to claim 14, characterized in that, The light emitting device further includes: An integrated optical amplifier, which is connected to the single sideband modulator and is used for amplifying the continuous frequency light wave, and the amplified continuous frequency light is projected onto the optoelectronic array.

16. The radar device according to claim 14, characterized in that, The light emitting device further includes: A laser driving circuit, which is connected to the laser and is used for controlling the light emitting period of the laser. Among them, an intermittent period is set between two adjacent light emitting periods.

17. The radar device according to claim 10, characterized in that, The target object information is point cloud information including the distance, speed and azimuth angle of the target object.

18. The radar device according to claim 9, characterized in that, The radar device further includes: A row and column selection control circuit, which is connected to the optoelectronic array and is used for controlling the output of the reference electrical signal and the detection electrical signal collected by each optoelectronic unit in the optoelectronic array.

19. The radar device according to claim 9, characterized in that, The radar device further includes: A signal processing module, which is connected to the optoelectronic array and is used for processing the reference electrical signal and the detection electrical signal and performing data format conversion.

20. The radar device according to claim 19, characterized in that, The signal processing module includes: A coupler, which is connected to the optoelectronic array and is used for coupling the reference electrical signal and the detection electrical signal and outputting a coupled signal; A balanced amplifier, which is connected to the coupler and is used for performing balanced processing on the coupled signal; A signal amplification circuit, which is connected to the balanced amplifier and is used for amplifying the balanced processed coupled signal and outputting an amplified signal; An analog-to-digital conversion circuit, which is connected to the signal amplification circuit and is used for converting the amplified signal into a digital signal.

21. The radar device according to any one of claims 9-20, characterized in that, The radar device further includes: A control module, which is connected to the light emitting device and the optoelectronic array and is used for acquiring the reference electrical signal and the detection electrical signal output by the optoelectronic array and obtaining target object information according to the reference electrical signal and the detection electrical signal.

22. The radar device according to claim 9, characterized in that, The radar device further includes: A power supply module, which is connected to each power-consuming module of the radar device and is used for supplying power to each power-consuming module.

23. The radar device according to claim 21, characterized in that, The radar device further includes: A bus interface, which is connected to the control module and is used for receiving a wake-up instruction on the bus when the radar device is in a sleep state.

24. A communication system, characterized in that, Includes: An optical fiber line; A main control module, which is connected to the optical fiber line and is used for acquiring the optical signal transmitted on the optical fiber line and generating control information according to the optical signal; The optical signal at least includes the target object information detected by the radar device according to any one of claims 9-23.

25. The communication system according to claim 24, wherein, The main control module includes: An optoelectronic conversion unit, which is connected to the optical fiber line and is used for converting the optical signal transmitted on the optical fiber line into an electrical signal; A control unit, which is connected to the photoelectric conversion unit and is configured to obtain control information based on the electrical signal.

26. An electronic and electrical system, characterized in that, Comprising the radar device according to any one of claims 9-23.

27. The electrical and electronic system according to claim 26, characterized in that, The electronic and electrical system further comprises: an information acquisition device, which is configured to acquire environmental information.

28. The electrical and electronic system according to claim 27, characterized in that, The electronic and electrical system further comprises the communication system according to claim 24 or 25.

29. The electrical and electronic system according to claim 27, characterized in that, The information acquisition device includes at least one of a camera and a millimeter-wave radar.

30. A vehicle, characterized in that, Comprising: The radar device according to any one of claims 9-23; Or, the communication system according to claim 24 or 25; Or, an actuator and the electronic and electrical system according to any one of claims 26-29, the electronic and electrical system being connected to the actuator.

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